Hyundai HI4 - Manual (Page 395)

11. Robot Language Explanation
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11.3.8 SREQT Command
Introduction
SREQT is same function as Shift Requirement (M51). But it makes a differences to
jump to the shelter step if shift amount is not input during the specified time.
11.3.9 SXYZ Command
Introduction
XYZ Shift is a function that makes parallel shift with fixed tool angle in XYZ
coordination and saves shift amount of 3 dimension.
Note
(1) The Playback of XYZ shift
The distance of X, Y, Z to the end of tool must be set accurately because it
makes parallel shift with fixed tool angle.
(2) The Application of XYZ shift
As the following picture, it is used when the points A,B,C,D of workpiece
parallelly face each other to the points a, b, c, d.
Description Timer conditional shift function (M56)
Syntax
SREQT R=<Reg. Number>,PT=<Port Number>,WT=<Standby time>,SS=<shelterStep
Number>
Reg. Number Register number for saving the received shift amount. 1∼8
Port Number
RS232C port number to be used for shift requirement and
shift amount transmission.
1∼1
Standby
Time
Standby time until receiving the shuft amount.
0.0∼60.0
(sec)
Parameter
shelter
Step No Step number to be jumped when the standby time is
elapsed.
0∼999
example SREQT R=1,PT=1,WT=10.0,SS=100
Description XYZ Shift (M58)
Syntax
SXYZ RF=<Base>,X=<X Shift Amount>,Y=<Y Shift Amount>,Z=<Z Shift
Amount>
Base If 0, ground base. If 1, tool base. 0∼1
Parameter Shift
Amount
Shift Amount to be shifted parallel in 3D.
-3000.0∼
3000.0
example SXYZ RF=0,X=10.50,Y=20.50,Z=0.00